--- a/drivers/can_socket/can_socket.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_socket/can_socket.c Wed Apr 04 13:04:31 2007 +0200
@@ -47,28 +47,15 @@
#define CAN_IOCTL ioctl
#endif
-struct CANPort;
-#define CAN_HANDLE struct CANPort *
-
-#include <applicfg.h>
-
-#include "timer.h"
#include "can_driver.h"
-#include "timers_driver.h"
-
-typedef struct CANPort {
- int fd;
- TASK_HANDLE receiveTask;
- CO_Data* d;
-} CANPort;
/*********functions which permit to communicate with the board****************/
-UNS8 canReceive(CAN_HANDLE fd0, Message *m)
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
int res;
struct can_frame frame;
- res = CAN_RECV(fd0->fd, &frame, sizeof(frame), 0);
+ res = CAN_RECV(fd0, &frame, sizeof(frame), 0);
if (res < 0)
return 1;
@@ -83,23 +70,9 @@
return 0;
}
-void canReceiveLoop(CAN_HANDLE fd0)
-{
- CO_Data* d = fd0->d;
- Message m;
-
- while (1) {
- if (canReceive(fd0, &m) != 0)
- break;
-
- EnterMutex();
- canDispatch(d, &m);
- LeaveMutex();
- }
-}
/***************************************************************************/
-UNS8 canSend(CAN_HANDLE fd0, Message *m)
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
{
int res;
struct can_frame frame;
@@ -113,7 +86,7 @@
else
memcpy(frame.data, m->data, 8);
- res = CAN_SEND(fd0->fd, &frame, sizeof(frame), 0);
+ res = CAN_SEND(fd0, &frame, sizeof(frame), 0);
if (res < 0)
return 1;
@@ -121,25 +94,21 @@
}
/***************************************************************************/
-CAN_HANDLE canOpen(s_BOARD *board)
+CAN_HANDLE canOpen_driver(s_BOARD *board)
{
CAN_HANDLE fd0;
struct ifreq ifr;
struct sockaddr_can addr;
int err;
- fd0 = malloc(sizeof(*fd0));
- if (!fd0)
- return NULL;
-
- fd0->fd = CAN_SOCKET(PF_CAN, SOCK_RAW, 0);
- if(fd0->fd < 0){
+ fd0 = CAN_SOCKET(PF_CAN, SOCK_RAW, 0);
+ if(fd0 < 0){
fprintf(stderr,"Socket creation failed.\n");
goto error_ret;
}
snprintf(ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
- err = CAN_IOCTL(fd0->fd, SIOCGIFINDEX, &ifr);
+ err = CAN_IOCTL(fd0, SIOCGIFINDEX, &ifr);
if (err) {
fprintf(stderr, "Unknown device: %s\n", ifr.ifr_name);
goto error_close;
@@ -147,32 +116,27 @@
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
- err = CAN_BIND(fd0->fd, (struct sockaddr *)&addr,
+ err = CAN_BIND(fd0, (struct sockaddr *)&addr,
sizeof(addr));
if (err) {
fprintf(stderr, "Binding failed.\n");
goto error_close;
}
- fd0->d = board->d;
- CreateReceiveTask(fd0, &fd0->receiveTask);
return fd0;
error_close:
- CAN_CLOSE(fd0->fd);
+ CAN_CLOSE(fd0);
error_ret:
- free(fd0);
return NULL;
}
/***************************************************************************/
-int canClose(CAN_HANDLE fd0)
+int canClose_driver(CAN_HANDLE fd0)
{
if (fd0) {
- WaitReceiveTaskEnd(&fd0->receiveTask);
- CAN_CLOSE(fd0->fd);
- free(fd0);
+ CAN_CLOSE(fd0);
}
return 0;
}